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jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)
http://www.jsk.t.u-tokyo.ac.jp/index-j.html
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Refactor interface in spinal to handle more external magnetometer built in GPS module #458

Closed tongtybj closed 3 years ago

tongtybj commented 3 years ago

@chibi314 @kanke-hayata

I have almost finished to implement the usage of next generation of GPS module with built-in magnetometer. Tonight, I will attach the instruction images to show how to use and configure the new GPS, and also provide two prepared GPS module for your outdoor experiment (two hydrus).

tongtybj commented 3 years ago

I make three samples of following GPS module. Two of them are for @chibi314 and @kanke-hayata Connectors are modified and can be directly connected to Spinal with this branch. iOS の画像 (2)

tongtybj commented 3 years ago

Important tips:

  1. Connector pinout: URAT: 5V(Orange), GND(Black), TX (White), RX (Yellow) I2C: SCL (Red), SDA (Green)

iOS の画像 (1)

  1. Configuration I will update the description in https://github.com/JSKAerialRobot/aerial_robot/wiki/sensors. The most important modification is to change the rate from 1000ms to 100ms
tongtybj commented 3 years ago

The most important modification is to change the rate from 1000ms to 100ms

@chibi314 100ms, right?

chibi314 commented 3 years ago

@tongtybj

Yes. I set the rate to 100 ms and confirmed that hydrus could hover stable in outdoor environment. But the relationship between the rate and the latency is not precisely evaluated.

tongtybj commented 3 years ago

@chibi314

grateful for you

tongtybj commented 3 years ago

We need tp set measurement rate to 101ms (9,9Hz). Please refer to https://portal.u-blox.com/s/question/0D52p0000AOK91vCQD/can-neom9n-only-use-16-satellites-with-nav-update-rate-5hz